- author = "Kazuya Horibe and Kathryn Walker and Rasmus Berg Palm and Shyam Sudhakaran and Sebastian Risi",
- title = "Severe damage recovery in evolving soft robots through differentiable programming",
- journal = "Genetic Programming and Evolvable Machines",
- year = "2022",
- volume = "23",
- number = "3",
- pages = "405--426",
- month = sep,
- note = "Special Issue: Highlights of Genetic Programming 2021 Events",
- keywords = "genetic algorithms, genetic programming, Regeneration, Soft robots, Neural cellular automata, Damage recovering",
- ISSN = "1389-2576",
-
URL = "
https://rdcu.be/cPBBH",
-
DOI = "
doi:10.1007/s10710-022-09433-z",
- abstract = "Biological systems are very robust to morphological damage, but artificial systems (robots) are currently not. In this paper we present a system based on neural cellular automata, in which moving robots are evolved and then given the ability to regenerate their morphology from damage through gradient-based training. Our approach thus combines the benefits of evolution to discover a wide range of different robot morphologies, with the efficiency of supervised training for robustness through differentiable update rules. The resulting neural cellular automata are able to grow virtual robots capable of regaining more than 80percent of their functionality, even after severe types of morphological damage.",
-
notes = "
Department of Systems Innovation, Osaka University, 1-3 Machikaneyama, Toyonaka, 560-8531, Osaka, Japan",
